While working with the integrated dcontroller and darm, there is a slight decrease in z axis while moving in increments+x direction and orientation is not constrained. However, based on initial testing, these constraints do work when testing the arm by itself.
While calibrating, Nafisa and I have changed the hard-coded offset between the arm and camera to allow the arm to go higher before coming forward to the doorknob.
While working with the integrated dcontroller and darm, there is a slight decrease in z axis while moving in increments+x direction and orientation is not constrained. However, based on initial testing, these constraints do work when testing the arm by itself.
While calibrating, Nafisa and I have changed the hard-coded offset between the arm and camera to allow the arm to go higher before coming forward to the doorknob.